NDLI: Practical model-free robust estimation and control design for an underwater soft IPMC actuator

Content Provider	IET Digital Library
Author	Khawwaf, Jasim Zheng, Jinchuan Wang, Hai Man, Zhihong
Abstract	In the trend of the recent development of soft actuators, ionic polymer metal composite (IPMC) is considered as one of the new and innovative soft materials. The IPMC is suited to be utilised in medical micro robots and bio-inspired aquatic robotics. It is distinguished by nimble, soft, silent, flexible and lightweight properties. In fact, for the IPMC actuator, hysteresis and creep non-linearities are inevitable; and it is a great challenge to handle them and to achieve high-precision tracking in the control design, especially when the internal system morphology is complex and not fully understood. This study proposes a new model-free control approach for an underwater IPMC actuator to overcome the lack of its exact model and to achieve accurate trajectory tracking. This approach is synthesised based on a non-linear extended state observer technique to estimate lumped uncertainties and disturbances. Furthermore, a sliding mode controller is added as an extra input to deal with the estimation error and to assure the tracking robustness. Finally, the proposed control is experimentally verified to show its effectiveness in comparison with a non-singular terminal sliding mode controller. The experimental results indicate that the proposed controller is capable of delivering good tracking accuracy with strong robustness.
Starting Page	1508
Ending Page	1515
Page Count	8
ISSN	17518644
Volume Number	14
e-ISSN	17518652
Issue Number	Issue 11, Jul (2020)
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/iet-cta/14/11
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/10.1049/iet-cta.2019.1147
Journal	IET Control Theory & Applications
Publisher Date	2020-04-01
Access Restriction	Open
Rights Holder	© The Institution of Engineering and Technology
Subject Keyword	Accurate Trajectory Tracking Actuators Bio-inspired Aquatic Robotics Control Design Control System Analysis Control System Synthesis Estimation Error Exact Model Flexible Property Good Tracking Accuracy High-precision Tracking Innovative Soft Material Internal System Morphology Ionic Polymer Metal Composite Lightweight Property Microrobots Mobile Robots Model-free Control Approach Motion Control Multivariable Control System New Material Nimble Property Nonlinear Control System Nonlinear Extended State Observer Technique Nonlinearities Nonsingular Terminal Sliding Mode Controller Observers Practical Model-free Robot And Manipulator Mechanics Robot Dynamics Robust Control Silent Property Soft Actuators Soft Property Spatial Variables Control Stability in Control Theory Strong Robustness Superior Advantages Synthesis Method Tracking Robustness Underwater IPMC Actuator Underwater Soft IPMC Actuator Underwater Vehicle Variable Structure System
Content Type	Text
Resource Type	Article
Subject	Control and Optimization Control and Systems Engineering Human-Computer Interaction Electrical and Electronic Engineering Computer Science Applications

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